CN111120585B - Electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer - Google Patents

Electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer Download PDF

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CN111120585B
CN111120585B CN202010008301.4A CN202010008301A CN111120585B CN 111120585 B CN111120585 B CN 111120585B CN 202010008301 A CN202010008301 A CN 202010008301A CN 111120585 B CN111120585 B CN 111120585B
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undercut
raceway
cycloid
tooth
meshing
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CN111120585A (en
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闫济东
邢鹏达
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Henan Zhulong High Tech Co ltd
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Henan Zhulong High Tech Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/0018—Shaft assemblies for gearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention provides an electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer which comprises a crossed roller bearing with a meshing pair, an inner steel ball oscillating tooth, an outer steel ball oscillating tooth, a transition transmission wheel, a conical roller bearing, a common shaft, an angular contact ball bearing, a driving module and the like. The transmission mechanism of the invention is composed of an internal and external nested two-stage differential undercut cycloid oscillating tooth transmission unit; the undercut cycloid raceways are divided into undercut hypocycloid raceways and undercut epicycloid raceways; according to the axial arrangement, the speed reducer has four types of configurations, and is divided into sixteen types of configurations aiming at each type under four conditions that two stages are undercut hypocycloid raceways, two stages are undercut epicycloid raceways, one stage is undercut hypocycloid raceway, the second stage is undercut epicycloid raceway and the first stage is undercut epicycloid raceway, and the second stage is undercut hypocycloid raceway; the invention has the advantages of flexible and changeable configuration mode and wide transmission ratio range, and has strong applicability by virtue of the inherent properties.

Description

Electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer
Technical Field
The invention relates to the technical field of movable tooth transmission, in particular to an electromechanical integrated nested differential undercut cycloid movable tooth speed reducer.
Background
In the traditional involute gear transmission, under some special conditions, designed gears can have undercut, although the transmission precision of the gears is not influenced, the root of a single tooth is thinned due to the undercut thickness, the bending resistance of the gears is reduced, the contact ratio is reduced, and the transmission stability is influenced, so that in the traditional design idea, the involute gears are designed to avoid undercut as much as possible. In the other conventional transmission form, the cycloidal pin gear transmission technology, the actual tooth profile of the cycloidal gear is strictly not allowed to be undercut, because the undercut distorts the transmission. With the development of a novel transmission technology (which is a representative oscillating tooth transmission technology), on the basis of the transmission idea of the cycloid pin wheel, the oscillating tooth transmission theory is applied, the pin teeth can be changed into steel ball oscillating teeth, the cycloid wheel is changed into a transmission wheel with a cycloid raceway, namely, the cycloid oscillating tooth transmission mechanism is obtained, compared with a cycloid pinwheel, the cycloid oscillating tooth transmission mechanism realizes full-circle tooth meshing on the structural principle, greatly improves the bearing capacity and the shock resistance of transmission, the design idea is to avoid the undercut of the actual meshing tooth profile of the cycloid raceway, and in the traditional three-dimensional solid modeling software, if the size of the selected movable teeth is too large, the actual meshing tooth profile of the cycloid raceway has an undercut phenomenon, the expression in the software is that the model cannot be established, and an error can be reported, so that the thinking of most of related practitioners and designers is limited. For example, patent No. CN201721031991.5 proposes "a cycloidal steel ball speed reducer and its robot joint", and the specification clearly proposes conditions for avoiding undercut and avoiding undercut. The problems that the power density of a traditional cycloid steel ball oscillating tooth speed reducer is not high, the power density is large in popular terms, the transmission ratio is relatively small, the space utilization is insufficient, and the market competitiveness is lacked are solved. Aiming at the problem, a new method is developed, the traditional design thinking is broken through, and the method is carried out against the way, namely in the design of the cycloid oscillating tooth transmission, the undercut phenomenon is not avoided, the undercut phenomenon is also utilized, the designed cycloid tooth profile is undercut, and therefore the undercut cycloid oscillating tooth transmission technology is obtained. Compared with the traditional cycloid oscillating tooth transmission, the undercut cycloid oscillating tooth transmission has the advantages that under the same size, the number of the oscillating teeth is more, the transmission ratio is higher, the whole-tooth whole-circle meshing stress is basically achieved, and the comprehensive performance of the undercut cycloid oscillating tooth transmission is superior to that of the traditional cycloid oscillating tooth transmission structure; compared with a cycloidal pin gear transmission structure, the transmission of the undercut cycloidal movable teeth has the advantages of simpler manufacture, fewer parts, simple assembly, longer service life, higher bearing capacity and shock resistance and the like. The transmission technology of the undercut cycloid oscillating tooth is applied to the speed reducer, and the problem to be solved urgently is solved.
Disclosure of Invention
Aiming at the problems, the invention provides an electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer, wherein a transmission mechanism of the electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer is composed of an internal and external nested two-stage differential undercut cycloid oscillating tooth transmission unit; the undercut cycloid raceways are divided into undercut hypocycloid raceways and undercut epicycloid raceways; according to the axial arrangement, the speed reducer has four types of configurations, and is divided into sixteen types of configurations aiming at each type under four conditions that two stages are undercut hypocycloid raceways, two stages are undercut epicycloid raceways, one stage is undercut hypocycloid raceway, the second stage is undercut epicycloid raceway and the first stage is undercut epicycloid raceway, and the second stage is undercut hypocycloid raceway; the invention has the advantages of flexible and changeable configuration mode and wide transmission ratio range, and has strong applicability by virtue of the inherent properties.
The technical scheme adopted by the invention is as follows: an electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer comprises a crossed roller bearing with a meshing pair, an inner steel ball oscillating tooth, an outer steel ball oscillating tooth, a transition transmission wheel, a tapered roller bearing, a common shaft, an angular contact ball bearing and a driving module; the crossed roller bearing with the meshing pair is fixedly arranged on the driving module; the common shaft is hinged in the driving module through two angular contact ball bearings, and the driving module directly drives the common shaft; the transition transmission wheel is hinged on the common shaft through a tapered roller bearing; the common shaft is not only a driven element of the driving module, but also an input shaft of the speed reducer; the crossed roller bearing with the meshing pair is provided with two undercut cycloid oscillating tooth meshing pairs, and the transition driving wheel is also provided with two undercut cycloid oscillating tooth meshing pairs; a circle of uniformly distributed inner steel ball movable teeth are respectively meshed with a transition transmission wheel and two corresponding undercut cycloid movable tooth meshing pairs on a crossed roller bearing with a meshing pair, and when one undercut cycloid movable tooth meshing pair is an undercut cycloid raceway, the other undercut cycloid movable tooth meshing pair is a movable tooth groove; and when one of the undercut cycloid oscillating tooth meshing pairs is an undercut cycloid raceway, the other undercut cycloid oscillating tooth meshing pair is an oscillating tooth groove.
Furthermore, the undercut cycloid oscillating tooth meshing pair comprises a first undercut cycloid oscillating tooth meshing pair, a second undercut cycloid oscillating tooth meshing pair, a third undercut cycloid oscillating tooth meshing pair and a fourth undercut cycloid oscillating tooth meshing pair, wherein the first undercut cycloid oscillating tooth meshing pair and the second undercut cycloid oscillating tooth meshing pair are respectively meshed with the oscillating teeth of the steel ball on the inner side; the third tangent cycloid oscillating tooth meshing pair and the fourth tangent cycloid oscillating tooth meshing pair are respectively meshed with the outer steel ball oscillating teeth.
Furthermore, the crossed roller bearing with the meshing pair comprises a crossed roller bearing outer ring, crossed rollers, a first sealing ring, an inner side driving wheel, a second sealing ring, a cushion block and an outer side driving wheel, wherein the outer side driving wheel is fixedly arranged on the crossed roller bearing outer ring; the inner transmission wheel is hinged in the outer ring of the crossed roller bearing and the outer rotating wheel; a circle of crossed rollers which are distributed in a crossed manner are arranged among the outer ring of the crossed roller bearing, the outer side transmission wheel and the inner side transmission wheel, and a cushion block is arranged between every two crossed rollers; the first sealing ring is fixedly arranged on the outer ring of the crossed roller bearing; the second sealing ring is fixedly arranged on the inner side transmission wheel; a first tangent cycloid oscillating tooth meshing pair is arranged on the inner side transmission wheel; the outer side transmission wheel is provided with a fourth tangent cycloid oscillating tooth meshing pair.
Furthermore, a second tangent cycloid oscillating tooth meshing pair and a third tangent cycloid oscillating tooth meshing pair are arranged on one side of the transition transmission wheel.
Furthermore, the driving module comprises a power module and a control module, the power module provides power for the speed reducer, and the common shaft is used as an output shaft of the speed reducer; the control module is fixedly arranged on the power module and used as a power supply and driving component of the power module.
Further, the power module is a motor, the motor is a brushless motor or a brush motor or a special motor, and a motor shaft of the motor is a common shaft. The special motor comprises a piezoelectric motor, a memory alloy driving motor and the like.
Furthermore, the undercut cycloid raceways comprise an undercut hypocycloid raceway and an undercut epicycloid raceway; the undercut hypocycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the inner side of the raceway is undercut to a certain degree while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure GDA0002862908650000031
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure GDA0002862908650000041
in the above formulas, the movable teeth of the R-steel ball are distributed with the radius of a circle; a-the eccentricity of the transition driving wheel and the inner side driving wheel, namely the distance between the axis of the transition driving wheel and the axis of the inner side driving wheel; zcWave number of undercut cycloid raceways.
Furthermore, the movable tooth groove surface meshed with the inner movable tooth is completely attached to the inner movable tooth; the groove surface of the movable tooth groove meshed with the outer movable tooth is completely attached to the outer movable tooth.
Furthermore, the left movable tooth and the right movable tooth, the inner steel ball movable tooth and the outer steel ball movable tooth are both rotating bodies, any tangent plane is made along the axis of the rotating bodies, a left bus and a right bus which are symmetrical to each other in a plane can be obtained, the buses are continuous curves of the plane, and the distance from each point to the axis is D; maximum D in the subset corresponding to the section of generatrix in the set D meshing with the undercut cycloid racewaymaxThe relationship that can cause undercut of the raceway needs to be satisfied:
Dmax＞ρmin
in the formula, ρmin-minimum value of the curvature radius p of the meshing curve.
Further, when a parameter equation of the meshing curve is determined, the curvature radius of any point on the meshing curve is determined; the calculation formula of the curvature radius of the meshing curve is as follows:
Figure GDA0002862908650000042
due to the adoption of the technical scheme, the invention has the following advantages: (1) under the same size, compared with the traditional cycloid oscillating tooth speed reducer, the speed reducer has more oscillating tooth number or larger oscillating tooth size, thereby having larger speed reduction ratio and larger bearing capacity; (2) the internal and external nested electromechanical integrated structure has the advantages that the axial size is obviously shortened, the inside is hollow, and internal wiring can be realized; (3) the two-stage differential structure has sixteen types of structures, and the reduction ratio range is very wide; (4) the accuracy and the continuity of the whole transmission are not influenced by the local undercut, all the movable teeth participate in meshing force transmission, and the shock resistance is strong; (5) the steel ball movable teeth are adopted, so that the service life is long; (6) the speed reducer is used for a robot and can realize modularization, and can be directly spliced and assembled into a traditional industrial robot as a speed reducing module; (7) the structure is simple and compact, and the processing, the manufacturing and the assembly are convenient.
Drawings
Fig. 1, 2 and 3 are sectional views of the overall assembly structure of the present invention.
Fig. 4 is an exploded view of the overall structure of the present invention.
Fig. 5 and 6 are schematic structural views of parts of the inner transmission wheel of the present invention.
Fig. 7 and 8 are schematic structural diagrams of parts of the outer transmission wheel of the invention.
Fig. 9 is a schematic structural diagram of the housing component of the present invention.
Fig. 10 and 11 are schematic structural views of the transition transmission wheel component of the present invention.
Fig. 12 is a schematic structural view of the input shaft component of the present invention.
Fig. 13 is a schematic structural diagram of the cover component of the present invention.
Fig. 14 and 15 are schematic structural views of stator parts according to the present invention.
Reference numerals: 1-crossed roller bearing outer race; 2-a cross roller; 3-a first sealing ring; 4-inner side driving wheel; 5-a second sealing ring; 6-inner steel ball oscillating tooth; 7-cushion block; 8-outer steel ball oscillating tooth; 9-a first screw; 10-an outer side transmission wheel; 11-a housing; 12-a transition driving wheel; 13-a tapered roller; 14-a first holder; 15-an input shaft; 16-a second screw; 17-a machine cover; 18-rear cover; 19-a control module; 20-a third screw; 21-a terminal; 22-a stator; 23-a coil; 24-a permanent magnet; 25-a second cage; 26-angular contact ball rollers; 27-a fourth screw; 28-a first pin; 29-second stud; 401-a first threaded hole; 402-a first card slot; 403-a first raceway; 404-a first tangent cycloid oscillating tooth meshing pair; 405-a second card slot; 1001-first unthreaded hole; 1002-a second light hole; 1003-second raceway; 1004-a fourth tangent cycloid oscillating tooth meshing pair; 1101-a second threaded hole; 1102-a third light hole; 1103 — third raceway; 1201-third tangent cycloid oscillating tooth meshing pair; 1202-a second tangent cycloid oscillating tooth meshing pair; 1203-fourth raceway; 1501-eccentric raceway; 1502-a first shaft segment; 1503-fifth raceway; 1504 — a second shaft section; 1505-the sixth raceway; 1506-third shaft segment; 1507-a third card slot; 1701-seventh raceway; 1702-fourth pupil; 1703-fifth pupil; 1704-third threaded hole; 1705-wire guide holes; 1706-sixth optical aperture; 2201-fourth threaded hole; 2202-ring iron block; 2203-wrapping posts; 2204-fourth shaft segment; 2205-fifth shaft segment; 2206-fourth card slot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): an electromechanical integrated nested differential undercut cycloid oscillating tooth speed reducer comprises an outer ring of a crossed roller bearing, crossed rollers, a first sealing ring, an inner side driving wheel, a second sealing ring, inner side steel ball oscillating teeth and a cushion blockThe cross roller bearing comprises an outer steel ball movable tooth, a first screw, an outer driving wheel, a shell, a transition driving wheel, a tapered roller, a first retainer, an input shaft, a second screw, a cover, a rear cover, a control module, a third screw, a wiring end, a stator, a coil, a permanent magnet, a second retainer, an angular contact ball roller, a fourth screw, a first pin and a second pin, wherein an outer ring of the cross roller bearing and the outer driving wheel are fixedly arranged on the left side of the shell through eight uniformly distributed first screws and four uniformly distributed first pins; the cover is fixedly arranged on the right side of the shell through eight uniformly distributed fourth screws and four uniformly distributed second column pins; the rear cover is fixedly arranged on the right side of the cover through eight uniformly distributed second screws; the control module is fixedly arranged between the machine cover and the rear cover, and a wiring end is fixedly arranged on the control module; the stator is fixedly arranged inside the cover through eight uniformly distributed third screws; the first sealing ring is fixedly arranged on the outer ring of the crossed roller bearing; the inner transmission wheel is hinged in the outer ring of the crossed roller bearing and the outer transmission wheel through a circle of crossed rollers which are distributed in a crossed manner, and a cushion block is arranged between every two crossed rollers; the second sealing ring is fixedly arranged on the inner driving wheel and is in contact with the stator; two ends of the input shaft are respectively hinged on the shell and the cover through a circle of angular contact ball rollers uniformly distributed on the second retainer; the transition driving wheel is hinged on the input shaft through a circle of tapered rollers uniformly distributed on the first retainer; a circle of n permanent magnets are uniformly and fixedly arranged in the input shaft; n coils are uniformly wound on the stator; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the inner side transmission wheelb1The inner steel ball oscillating tooth; a circle of uniformly distributed transmission wheels Z is meshed between each transition transmission wheel and the outer side transmission wheelb2The outer steel ball of the gear is provided with movable teeth.
The inner side transmission wheel comprises a first threaded hole, a first clamping groove, a first raceway, a first tangent cycloid oscillating tooth meshing pair and a second clamping groove, and the first threaded hole is externally connected with a part; the first clamping groove is used for being matched with the first sealing ring; the first raceway is used for matching with the first crossed roller; the second clamping groove is used for being matched with the second sealing ring; the first tangent cycloid oscillating tooth meshing pair can be a movable tooth groove or an undercut cycloid raceway, and when the first tangent cycloid oscillating tooth meshing pair is a movable tooth groove, the second tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the first tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the second tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove; the undercut cycloid raceways comprise an undercut hypocycloid raceway and an undercut epicycloid raceway; the undercut hypocycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the inner side of the raceway is undercut to a certain degree while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure GDA0002862908650000071
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure GDA0002862908650000072
in the above formulae, R1-inside steel ball oscillating tooth distribution circle radius; a-the eccentricity of the transition driving wheel and the inner side driving wheel, namely the distance between the axis of the transition driving wheel and the axis of the inner side driving wheel; zc1Wave number of inboard undercut cycloid raceways.
The outer transmission wheel comprises a first unthreaded hole, a second roller path and a fourth tangent cycloid oscillating tooth meshing pair, and the first unthreaded hole is used for allowing a first screw to pass through; the second unthreaded hole is used for passing through the first pin; the second roller path is used for matching with the first cross roller; the fourth tangent cycloid oscillating tooth meshing pair can be a movable tooth groove or an undercut cycloid raceway, and when the fourth tangent cycloid oscillating tooth meshing pair is a movable tooth groove, the third tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway; when the fourth tangent cycloid oscillating tooth meshing pair is an undercut cycloid raceway, the third tangent cycloid oscillating tooth meshing pair is an oscillating tooth groove; the undercut cycloid raceways comprise an undercut hypocycloid raceway and an undercut epicycloid raceway; the undercut hypocycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the inner side of the raceway is undercut to a certain degree while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure GDA0002862908650000081
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure GDA0002862908650000082
in the above formulae, R2-outside steel ball oscillating tooth distribution circle radius; a-the eccentricity of the transition driving wheel and the inner side driving wheel, namely the distance between the axis of the transition driving wheel and the axis of the inner side driving wheel; zc2Wave number of outboard undercut cycloid raceways.
The shell comprises a second threaded hole, a third unthreaded hole and a third raceway, and the second threaded hole is used for being matched with the first screw and the fourth screw; the third unthreaded hole is used for being matched with the first pin and the second pin; the third raceway is for engagement with angular contact ball rollers.
The transition transmission wheel comprises a third tangent cycloid oscillating tooth meshing pair, a second tangent cycloid oscillating tooth meshing pair and a fourth roller path, and the fourth roller path is used for being matched with the tapered roller; the second tangent cycloid oscillating tooth meshing pair can be an oscillating tooth groove or an undercut cycloid raceway, and the specific condition is determined by the type selection of the first tangent cycloid oscillating tooth meshing pair; the third tangent cycloid oscillating tooth meshing pair can be an oscillating tooth groove or an undercut cycloid raceway, and the specific condition is determined by the selection of the fourth tangent cycloid oscillating tooth meshing pair.
The input shaft comprises an eccentric raceway, a first shaft section, a fifth raceway, a second shaft section, a sixth raceway, a third shaft section and a third clamping groove, and the eccentric raceway is used for being matched with the tapered roller; the first shaft section, the second shaft section and the third shaft section are not in contact with any part; the fifth ball race and the sixth ball race are used for matching with the angular contact ball rollers; the third clamping groove is used for fixedly mounting the permanent magnet.
The machine cover comprises a seventh roller path, a fourth unthreaded hole, a fifth unthreaded hole, a third threaded hole, a wire guide hole and a sixth unthreaded hole, wherein the seventh roller path is used for being matched with the angular contact ball roller; the fourth unthreaded hole is used for being matched with the second column pin; the fifth unthreaded hole is used for penetrating through the fourth screw; the third threaded hole is used for being matched with the second screw; the wire hole is used for arranging wires passing through the control module; and the sixth unthreaded hole is used for penetrating through the third screw.
The stator comprises a fourth threaded hole, an iron ring block, a winding post, a fourth shaft section, a fifth shaft section and a fourth clamping groove, and the fourth threaded hole is used for being matched with a third screw; the ring iron blocks with the number n are respectively fixedly arranged on the fourth shaft section through a winding post, and the winding posts are used for winding coils; the fifth shaft section is not contacted with any part; and the fourth clamping groove is used for being matched with the second sealing ring.
The symbolic meaning is obtained by adopting a pictographic method, a symbol S represents an undercut cycloid raceway, a symbol O represents a movable tooth groove, the S is connected with the corresponding O to form a pair of movable tooth meshing pairs, and the movable teeth are added to form a single-stage nested undercut cycloid movable tooth transmission unit. The two-stage nested type undercut cycloid oscillating tooth speed reduction unit is formed by a first tangent cycloid oscillating tooth meshing pair, a second tangent cycloid oscillating tooth meshing pair, a third tangent cycloid oscillating tooth meshing pair, a fourth tangent cycloid oscillating tooth meshing pair and four groups of oscillating tooth meshing pairs, wherein the total number of the four oscillating tooth meshing pairs is four, namely two groups of oscillating tooth meshing pairs, and the two groups of oscillating tooth meshing pairs are respectively combined with the inner steel ball oscillating tooth and the outer steel ball oscillating tooth to form the two-stage nested type undercut cycloid oscillating tooth speed reduction unit. According to the sequence from inside to outside, the inner side transmission unit is a first-stage transmission unit, the outer side transmission unit is a second-stage transmission unit, and according to the expression of the symbols, the transmission structure has four transmission forms of SOSO, SOOS, OSSO and OSOS according to the arrangement form of the arrangement combination of the meshing pairs, and aiming at any one transmission structure, the transmission structure is divided into sixteen transmission structures in total under four conditions that two stages are undercut hypocycloid raceways, two stages are undercut epicycloid raceways, one stage is undercut hypocycloid raceway two-stage is undercut epicycloid raceway, and one stage is undercut epicycloid raceway two-stage is undercut hypocycloid raceway.
Fig. 1 to 15 show a preferred embodiment of the invention, which uses OSSO type and hypocycloidal raceways in both stages, with oscillating teeth using standard balls of the same size; the motor module adopts a brushless motor with a controller. The transmission parameters are shown in table 1:
TABLE 1 structural theory parameter table
Figure GDA0002862908650000091
The working principle of the invention is as follows: from the foregoing, the structure of the present invention has four transmission forms of SOSO, OSSO and oss according to the arrangement form of the meshing pair arrangement, where SOSO is, in turn, oss, in turn, SOSO, and SOSO and OSSO are, in turn, their own transmission principles and reduction ratio calculation formulas are explained uniformly according to the inner transmission wheel fixing, and all cases can be covered.
When the inner side driving wheel is fixed, the input shaft is driven, so that the axis of the transition driving wheel revolves around the axis of the input shaft, at the same time, the inner side steel ball movable teeth uniformly distributed along the circumference are simultaneously meshed with the first tangent cycloid movable tooth meshing pair of the inner side driving wheel and the second tangent cycloid movable tooth meshing pair of the middle driving wheel, and the first tangent cycloid movable tooth meshing pair of the inner side driving wheel is fixedly connected with the inner side driving wheel, so that the inner side steel ball movable teeth are meshed with the first tangent cycloid movable tooth meshing pair of the inner side driving wheel, and simultaneously, the transition driving wheel is pushed to rotate along the self axis through the second tangent cycloid movable tooth meshing pair of the transition driving wheel, so that the motion of the transition driving wheel is revolution around the axis of the input shaft and rotation around the self axis, and when the transition driving wheel moves in the above-mentioned rule, the third tangent cycloid movable tooth meshing pair is arranged on, the outer side steel ball movable teeth meshed with the outer side steel ball movable teeth are pushed, and then the fourth tangent cycloid movable tooth meshing pair on the front transmission wheel meshed with the outer side steel ball movable teeth is pushed to push the outer side transmission wheel to rotate along the self axis.
The reduction ratio calculation formulas of the four transmission forms respectively correspond to the following steps:
for the SOSO model, the reduction ratio calculation formula is:
Figure GDA0002862908650000101
for the SOOS type, the reduction ratio calculation formula is:
Figure GDA0002862908650000102
for the OSSO type, the reduction ratio calculation formula is as follows:
Figure GDA0002862908650000103
for the oss type, the reduction ratio calculation formula is:
Figure GDA0002862908650000111
the speed reducer has various installation and use modes, wherein one of an inner transmission wheel and an outer transmission wheel is selected as a fixed part, and the other is selected as an output part.
The electrode module in the speed reducer is not limited to the brushless motor used in the embodiment, and various types of motors can be used as the power module of the invention. Taking the brushless motor module of the above embodiment as an example, the external power supply energizes the control module through the terminal, the control module controls the output current, and further controls the magnetic force of the ring iron block serving as the electromagnet on the stator.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a differential undercut cycloid oscillating tooth reduction gear of electromechanical integrated nested formula, includes that the area meshes vice crossed roller bearing, inboard steel ball oscillating tooth, outside steel ball oscillating tooth, transition drive wheel, tapered roller bearing, public axle, angular contact ball bearing, drive module, its characterized in that: the crossed roller bearing with the meshing pair is fixedly arranged on the driving module; the common shaft is hinged in the driving module through two angular contact ball bearings, and the driving module directly drives the common shaft; the transition transmission wheel is hinged on the common shaft through a tapered roller bearing; the common shaft is not only a driven element of the driving module, but also an input shaft of the speed reducer; the crossed roller bearing with the meshing pair is provided with two undercut cycloid oscillating tooth meshing pairs, and the transition driving wheel is also provided with two undercut cycloid oscillating tooth meshing pairs; a circle of uniformly distributed inner steel ball movable teeth are respectively meshed with a transition transmission wheel and two corresponding undercut cycloid movable tooth meshing pairs on a crossed roller bearing with a meshing pair, and when one undercut cycloid movable tooth meshing pair is an undercut cycloid raceway, the other undercut cycloid movable tooth meshing pair is a movable tooth groove; one circle of uniformly distributed outer steel ball movable teeth are respectively meshed with two corresponding undercut cycloid movable tooth meshing pairs on a transition transmission wheel and a crossed roller bearing with a meshing pair, and when one undercut cycloid movable tooth meshing pair is an undercut cycloid raceway, the other undercut cycloid movable tooth meshing pair is a movable tooth groove; the undercut cycloid oscillating tooth meshing pair has an undercut cycloid raceway.
2. The electromechanically integrated nested differential undercut cycloidal oscillating-tooth reducer according to claim 1, characterized in that: the first tangent cycloid oscillating tooth meshing pair and the second tangent cycloid oscillating tooth meshing pair are respectively meshed with the inner steel ball oscillating tooth; the third tangent cycloid oscillating tooth meshing pair and the fourth tangent cycloid oscillating tooth meshing pair are respectively meshed with the outer steel ball oscillating teeth.
3. The electromechanically integrated nested differential undercut cycloidal oscillating-tooth reducer according to claim 1, characterized in that: the cross roller bearing with the meshing pair comprises a cross roller bearing outer ring, a cross roller, a first sealing ring, an inner side transmission wheel, a second sealing ring, a cushion block and an outer side transmission wheel, wherein the outer side transmission wheel is fixedly arranged on the cross roller bearing outer ring; the inner transmission wheel is hinged in the outer ring of the crossed roller bearing and the outer rotating wheel; a circle of crossed rollers which are distributed in a crossed manner are arranged among the outer ring of the crossed roller bearing, the outer side transmission wheel and the inner side transmission wheel, and a cushion block is arranged between every two crossed rollers; the first sealing ring is fixedly arranged on the outer ring of the crossed roller bearing; the second sealing ring is fixedly arranged on the inner side transmission wheel; a first tangent cycloid oscillating tooth meshing pair is arranged on the inner side transmission wheel; the outer side transmission wheel is provided with a fourth tangent cycloid oscillating tooth meshing pair.
4. The electromechanically integrated nested differential undercut cycloidal oscillating-tooth reducer according to claim 1, characterized in that: and a second tangent cycloid oscillating tooth meshing pair and a third tangent cycloid oscillating tooth meshing pair are arranged on one side of the transition transmission wheel.
5. The electromechanically integrated nested differential undercut cycloidal oscillating-tooth reducer according to claim 1, characterized in that: the driving module comprises a power module and a control module, the power module provides power for the speed reducer, and the common shaft is used as an output shaft of the speed reducer; the control module is fixedly arranged on the power module and used as a power supply and driving component of the power module.
6. An electromechanically integrated nested differential undercut cycloidal oscillating tooth reducer according to claim 5, characterized in that: the power module is a motor, the motor is a brush motor or a special motor, and a motor shaft of the motor is a public shaft.
7. The electromechanically integrated nested differential undercut cycloidal oscillating-tooth reducer according to claim 1, characterized in that: the undercut cycloid raceways comprise an undercut hypocycloid raceway and an undercut epicycloid raceway; the undercut hypocycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the inner side of the raceway is undercut to a certain degree while the outer side of the raceway is not undercut; the undercut epicycloid raceway is an envelope surface of a steel ball movable tooth meshing surface sweeping a circle around a raceway meshing curve, and the outer side of the raceway is undercut to a certain degree while the inner side of the raceway is not undercut; when the undercut cycloid raceway adopts an undercut hypocycloid raceway, the wave number of the raceway is one more than the active tooth number of the steel ball, and the parameter equation of the meshing curve in a plane rectangular coordinate system is as follows:
Figure FDA0002862908640000021
when the undercut cycloid raceway adopts an undercut epicycloid raceway, the wave number of the raceway is one less than the number of active teeth of the steel ball, and the parameter equation of the meshing curve in the plane rectangular coordinate system is as follows:
Figure FDA0002862908640000022
in the above formulas, the movable teeth of the R-steel ball are distributed with the radius of a circle; a-the eccentricity of the transition driving wheel and the inner side driving wheel, namely the distance between the axis of the transition driving wheel and the axis of the inner side driving wheel; zcWave number of undercut cycloid raceways.
8. The electromechanically integrated nested differential undercut cycloidal oscillating-tooth reducer according to claim 1, characterized in that: the groove surface of the movable tooth groove meshed with the inner movable tooth is completely attached to the inner movable tooth; the groove surface of the movable tooth groove meshed with the outer movable tooth is completely attached to the outer movable tooth.
9. The electromechanically integrated nested differential undercut cycloidal oscillating-tooth reducer according to claim 7, characterized in that: the inner steel ball movable teeth and the outer steel ball movable teeth are both rotating bodies, arbitrary tangent planes are made along the axes of the rotating bodies, two mutually symmetrical generatrixes on the left and the right in a plane can be obtained, the generatrixes are continuous curves of the plane, and the distance from each point on the generatrixes to the axes is D; maximum D in the subset corresponding to the section of generatrix in the set D meshing with the undercut cycloid racewaymaxThe relationship that can cause undercut of the raceway needs to be satisfied:
Dmax＞ρmin
in the formula, ρmin-minimum value of the curvature radius p of the meshing curve.
10. An electromechanically integrated nested differential undercut cycloidal oscillating tooth reducer according to claim 9, characterized in that: when the parameter equation of the meshing curve is determined, the curvature radius of any point on the meshing curve is determined; the calculation formula of the curvature radius of the meshing curve is as follows:
Figure FDA0002862908640000031
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